Agricultural Management Systems

Abstract

An agricultural management system according to one embodiment of the present invention comprises: a server which acquires implement information concerning multiple types of implements from multiple users and stores the acquired implement information; and a processing device which sets the extent of a precaution region around the implements connected to a work vehicle. The processing device acquires identification information that identifies a first implement, acquires implement information corresponding to said identification information from the server, and sets the extent of the precaution region on the basis of the acquired implement information.

Description

[Technical Field]

[0001] The present disclosure relates to agricultural management systems. [Background technology]

[0002] Research and development is underway on smart agriculture, which utilizes ICT (Information and Communication Technology) and IoT (Internet of Things) as the next generation of agriculture. Research and development is also underway to automate and unmanned farm vehicles such as tractors used in farm fields. For example, farm vehicles that can steer automatically using positioning systems such as GNSS (Global Navigation Satellite System), which enables precise positioning, are now being put into practical use.

[0003] Additionally, technology is being developed that uses obstacle sensors to search the area around a work vehicle and detect obstacles around the work vehicle. For example, Patent Document 1 discloses technology that uses a LiDAR (Light Detection and Ranging) sensor to detect obstacles around an autonomously driven tractor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-175059 Summary of the Invention [Problem to be solved by the invention]

[0005] When an implement is connected to a work vehicle, the work vehicle can perform agricultural work using the implement while automatically traveling within a field.

[0006] In some cases, it may be desirable for humans not to enter the area near the implement that is performing work under the automatic driving mode. One possible approach is to set a warning area around the implement and detect whether or not a human is present in the warning area.

[0007] The present disclosure provides a technique for setting a warning area suitable for an implement connected to a work vehicle. [Means for solving the problem]

[0008] An agricultural management system according to one embodiment of the present disclosure includes a server that acquires implement information regarding multiple types of implements from multiple users and stores the acquired implement information, and a processing device that sets the size of a warning area around a first implement connected to a work vehicle, wherein the processing device acquires identification information that identifies the first implement, acquires implement information corresponding to the identification information from the server, and sets the size of the warning area based on the acquired implement information.

[0009] A general or specific aspect of the present disclosure may be realized by an apparatus, a system, a method, an integrated circuit, a computer program, or a computer-readable non-transitory storage medium, or any combination thereof. The computer-readable storage medium may include a volatile storage medium or a non-volatile storage medium. An apparatus may be composed of multiple devices. When an apparatus is composed of two or more devices, the two or more devices may be located in a single device or may be located separately in two or more separate devices. [Effects of the Invention]

[0010] According to an embodiment of the present disclosure, implement information relating to multiple types of implements provided by multiple users is acquired and the acquired implement information is stored in a server. A processing device acquires implement information corresponding to identification information of the implements connected to the work vehicle from the server and sets the size of the warning area based on the acquired implement information.

[0011] Even when using an implement for which the information necessary to set the size of the surveillance area is not disclosed by the manufacturer, it is possible to set a surveillance area of ​​an appropriate size for each implement by using the implement information provided by the user. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram for explaining an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. [Figure 2] 1 is a side view that schematically illustrates an example of a work vehicle and a work implement coupled to the work vehicle. [Figure 3] FIG. 2 is a block diagram showing an example of the configuration of a work vehicle and a work machine. [Figure 4] FIG. 1 is a conceptual diagram showing an example of a work vehicle that performs positioning using RTK-GNSS. [Figure 5] 3A and 3B are diagrams illustrating an example of an operation terminal and an operation switch group provided inside a cabin. [Figure 6] FIG. 2 is a block diagram illustrating an example of the hardware configuration of a management device and a terminal device. [Figure 7] FIG. 1 is a diagram schematically illustrating an example of a work vehicle that automatically travels along a target route in a farm field. [Figure 8] 10 is a flowchart illustrating an example of the operation of steering control during automatic driving. [Figure 9A] 1 is a diagram showing an example of a work vehicle traveling along a target route P. FIG. [Figure 9B] FIG. 10 is a diagram showing an example of a work vehicle at a position shifted to the right from the target route P. [Figure 9C]FIG. 10 is a diagram showing an example of a work vehicle at a position shifted to the left from a target route P. [Figure 9D] 10 is a diagram showing an example of a work vehicle facing in a direction inclined with respect to a target route P. FIG. [Figure 10] FIG. 1 is a diagram schematically illustrating an example of a situation in which a plurality of work vehicles are automatically traveling on roads inside and outside a farm field. [Figure 11] FIG. 2 is a diagram illustrating an example of a sensing area sensed by a sensing device. [Figure 12] FIG. 1 is a diagram illustrating the relationship between a sensing area in which a LiDAR sensor senses and a search area in which an object is searched for. [Figure 13] FIG. 10 is a diagram showing the relationship between a search area and a warning area. [Figure 14] FIG. 1 is a diagram showing an agricultural management system 1 in which implement information provided by a plurality of users is stored in a server. [Figure 15] FIG. 10 is a diagram showing an example of an input screen for implement information displayed on a display of a terminal device. [Figure 16] FIG. 10 is a diagram illustrating an example of implement information stored in a server. [Figure 17] FIG. 10 is a diagram illustrating an example of implement information stored in a server. [Figure 18] 10 is a flowchart illustrating an example of a process for setting a warning area using implement information stored in a server. [Figure 19] FIG. 2 is a block diagram showing an example of a hardware configuration of an implement. [Figure 20] FIG. 10 is a diagram illustrating an example of a method for calculating the position of at least a part of the outline of an implement in a local coordinate system. [Figure 21] FIG. 10 is a diagram showing an example of a warning area set around an implement. [Figure 22] 10 is a flowchart illustrating an example of processing when it is determined that a human is present in the alert area. [Figure 23]FIG. 10 is a diagram illustrating an example of a method for calculating the position of at least a part of the outline of an implement in a local coordinate system. [Figure 24] FIG. 10 is a diagram showing an example of a warning area set around an implement. [Figure 25] FIG. 10 is a diagram illustrating an example of multiple surveillance areas. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Definition of terms) In this disclosure, "agricultural machinery" refers to machinery used for agricultural purposes. The agricultural machinery of this disclosure may be a mobile agricultural machine capable of performing agricultural work while moving. Examples of agricultural machinery include tractors, harvesters, rice transplanters, riding cultivators, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, and agricultural mobile robots. Not only can a work vehicle such as a tractor function alone as an "agricultural machine," but the entire work vehicle and an implement attached to or towed by the work vehicle can also function as a single "agricultural machine." Agricultural machinery performs agricultural work on the ground in a field, such as plowing, sowing, pest control, fertilizing, planting crops, or harvesting. These agricultural works are sometimes referred to as "ground work" or simply "work." Traveling while performing agricultural work by a vehicle-type agricultural machine is sometimes referred to as "work driving."

[0014] "Autonomous driving" refers to controlling the movement of an agricultural machine through the action of a control device, without manual operation by a driver. Agricultural machines that perform autonomous driving are sometimes called "autonomous agricultural machines" or "robotic agricultural machines." During autonomous driving, not only the movement of the agricultural machine but also the agricultural work operations (e.g., the operation of the implements) may be automatically controlled. When the agricultural machine is a vehicle-type machine, the movement of the agricultural machine through autonomous driving is referred to as "autonomous driving." The control device may control at least one of the steering, speed adjustment, and start and stop of movement required for the movement of the agricultural machine. When controlling a work vehicle equipped with implements, the control device may control operations such as raising and lowering the implements and starting and stopping their operation. Autonomous driving movement includes not only movement of the agricultural machine toward a destination along a predetermined route, but also movement of the agricultural machine following a tracking target. An autonomously driving agricultural machine may move partially based on user instructions. Furthermore, an autonomously driving agricultural machine may operate in a manual driving mode, in which it moves through manual operation by the driver, in addition to an autonomous driving mode. Steering an agricultural machine by the action of a control device, without manual operation, is called "automatic steering." Part or all of the control device may be external to the agricultural machine. Control signals, commands, data, and the like may be communicated between the agricultural machine and a control device external to the agricultural machine. An agricultural machine that performs automatic driving may move autonomously while sensing the surrounding environment, without a human being being involved in controlling the movement of the agricultural machine. An agricultural machine capable of autonomous movement can travel unmanned within a field or outside a field (e.g., on a road). During autonomous movement, the machine may detect obstacles and take action to avoid them.

[0015] A "work plan" is data that schedules one or more agricultural tasks to be performed by an agricultural machine. The work plan may include, for example, information indicating the order of agricultural tasks to be performed by the agricultural machine and the field on which each task will be performed. The work plan may also include information on the scheduled date and time for each task to be performed. The work plan may be created by a processing device that communicates with the agricultural machine to manage the agricultural work, or a processing device mounted on the agricultural machine. The processing device may create the work plan based on information entered by a user (such as a farm manager or farm worker) operating a terminal device, for example. In this specification, a processing device that communicates with the agricultural machine to manage the agricultural work is referred to as a "management device." The management device may manage the agricultural work of multiple agricultural machines. In that case, the management device may create a work plan that includes information on each agricultural task to be performed by each of the multiple agricultural machines. The work plan may be downloaded by each agricultural machine and stored in a storage device. Each agricultural machine can automatically head to the field and perform the scheduled agricultural work according to the work plan.

[0016] An "environmental map" is data that represents the positions or areas of objects in the environment in which the agricultural machine moves using a specified coordinate system. An environmental map may be simply referred to as a "map" or "map data." The coordinate system that defines the environmental map may be, for example, a world coordinate system such as a geographic coordinate system fixed relative to the Earth. An environmental map may also include information other than the positions of objects in the environment (e.g., attribute information and other information). Environmental maps include maps in various formats, such as point cloud maps or grid maps. Data for local or partial maps that are generated or processed in the process of constructing an environmental map are also referred to as a "map" or "map data."

[0017] "Farm road" means a road that is primarily used for agricultural purposes. Farm roads are not limited to roads paved with asphalt, but also include unpaved roads covered with dirt or gravel. Farm roads include roads (including private roads) that are exclusively passable by vehicle-type agricultural machinery (for example, work vehicles such as tractors) and roads that are also passable by general vehicles (passenger cars, trucks, buses, etc.). Work vehicles may automatically travel on general roads in addition to farm roads. General roads are roads that have been developed for the traffic of general vehicles.

[0018] (Embodiment) Hereinafter, embodiments of the present disclosure will be described. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend for them to limit the subject matter described in the claims. In the following description, components having the same or similar functions are designated by the same reference numerals.

[0019] The following embodiments are examples, and the technology of the present disclosure is not limited to the following embodiments. For example, the numerical values, shapes, materials, steps, step order, display screen layout, etc. shown in the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. Furthermore, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0020] The following mainly describes an embodiment in which the technology of the present disclosure is applied to a work vehicle such as a tractor, which is an example of agricultural machinery. The technology of the present disclosure is not limited to work vehicles such as tractors, but can also be applied to other types of agricultural machinery.

[0021] FIG. 1 is a diagram illustrating an overview of an agricultural management system 1 according to an exemplary embodiment of the present disclosure. The agricultural management system 1 shown in FIG. 1 includes a work vehicle 100, a terminal device 400, and a management device 600. The terminal device 400 is a computer used by a user to remotely monitor the work vehicle 100. The management device 600 is a computer managed by the business operator that operates the agricultural management system 1. The work vehicle 100, the terminal device 400, and the management device 600 can communicate with each other via a network 80. Although FIG. 1 illustrates one work vehicle 100, the agricultural management system 1 may include multiple work vehicles or other agricultural machinery.

[0022] The work vehicle 100 in this embodiment is a tractor. The work vehicle 100 can be fitted with a work implement at either the rear or the front, or both. The work vehicle 100 can travel within a field while performing agricultural work according to the type of work implement. The work vehicle 100 may also travel within or outside a field without a work implement attached.

[0023] The work vehicle 100 has an automatic driving function. That is, the work vehicle 100 can travel by the operation of a control device, without manual operation. The control device in this embodiment is provided inside the work vehicle 100, and can control both the speed and steering of the work vehicle 100. The work vehicle 100 can travel automatically not only within a field, but also outside the field (for example, on a road).

[0024] The work vehicle 100 is equipped with devices used for positioning or self-location estimation, such as a GNSS receiver and a LiDAR sensor. The control device of the work vehicle 100 causes the work vehicle 100 to travel automatically based on the position of the work vehicle 100 and information about a target route. In addition to controlling the travel of the work vehicle 100, the control device also controls the operation of the work implement. This allows the work vehicle 100 to perform agricultural work using the work implement while traveling automatically within a field. Furthermore, the work vehicle 100 can automatically travel along roads outside the field (e.g., farm roads or public roads) along a target route. The work vehicle 100 automatically travels along roads outside the field while utilizing data output from sensing devices such as the camera 120, obstacle sensor 130, and LiDAR sensor 140.

[0025] The management device 600 is a computer that manages agricultural work performed by the work vehicle 100. The management device 600 may be, for example, a server computer that centrally manages information about a farm field on the cloud and uses the data on the cloud to support agriculture. The management device 600, for example, creates a work plan for the work vehicle 100 and causes the work vehicle 100 to perform farm work according to the work plan. The management device 600 may generate a target route within the farm field based on information input by a user using the terminal device 400 or another device. The management device 600 may also generate and edit an environmental map based on data collected by the work vehicle 100 or other moving objects using a sensing device such as a LiDAR sensor. The management device 600 transmits the generated work plan, target route, and environmental map data to the work vehicle 100. The work vehicle 100 automatically moves and performs farm work based on this data.

[0026] The terminal device 400 is a computer used by a user located remotely from the work vehicle 100. The terminal device 400 shown in FIG. 1 is a laptop computer, but is not limited to this. The terminal device 400 may be a stationary computer such as a desktop PC (personal computer), or a mobile terminal such as a smartphone or tablet computer. The terminal device 400 can be used to remotely monitor or remotely operate the work vehicle 100. For example, the terminal device 400 can display on a display image captured by one or more cameras (imaging devices) equipped on the work vehicle 100. The terminal device 400 can also display on a display a setting screen that allows the user to input information necessary to create a work plan for the work vehicle 100 (e.g., a schedule for each agricultural work). When the user inputs the necessary information on the setting screen and performs a send operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on that information. The terminal device 400 may further have a function of displaying on the display a setting screen for the user to input information necessary for setting a target route.

[0027] The configuration and operation of the system in this embodiment will be described in more detail below.

[0028] [1. Configuration] FIG. 2 is a side view that schematically shows an example of a work vehicle 100 and a work implement 300 coupled to the work vehicle 100. The work vehicle 100 in this embodiment can operate in both a manual driving mode and an automatic driving mode. In the automatic driving mode, the work vehicle 100 can travel unmanned. The work vehicle 100 can be driven automatically both inside and outside a field.

[0029] As shown in Fig. 2, work vehicle 100 includes a vehicle body 101, a prime mover (engine) 102, and a transmission 103. Vehicle body 101 is provided with wheels 104 with tires and a cabin 105. Wheels 104 include a pair of front wheels 104F and a pair of rear wheels 104R. Inside cabin 105, a driver's seat 107, a steering device 106, an operation terminal 200, and a group of switches for operation are provided. When work vehicle 100 travels for work in a field, one or both of front wheels 104F and rear wheels 104R may be multiple wheels (crawlers) equipped with tracks instead of wheels with tires.

[0030] Work vehicle 100 may be equipped with at least one sensing device that senses the environment around work vehicle 100, and a processing device that processes sensor data output from the at least one sensing device. In the example shown in Figure 2, work vehicle 100 is equipped with multiple sensing devices. The sensing devices include multiple cameras 120, a LiDAR sensor 140, and multiple obstacle sensors 130.

[0031] Cameras 120 may be installed, for example, on the front, rear, left and right sides of work vehicle 100. Cameras 120 capture images of the environment around work vehicle 100 and generate image data. Images captured by camera 120 may be output to a processing device mounted on work vehicle 100 and transmitted to terminal device 400 for remote monitoring. These images may also be used to monitor work vehicle 100 when it is unmanned. Camera 120 may also be used to generate images for recognizing surrounding features or obstacles, white lines, signs, or markings when work vehicle 100 is traveling on roads outside of fields (farm roads or public roads).

[0032] In the example of FIG. 2, the LiDAR sensor 140 is disposed at the lower front portion of the vehicle body 101. The LiDAR sensor 140 may be disposed at another location. For example, the LiDAR sensor 140 may be disposed at the top of the cabin 105. The LiDAR sensor 140 may be a 3D-LiDAR sensor, but may also be a 2D-LiDAR sensor. The LiDAR sensor 140 senses the environment surrounding the work vehicle 100 and outputs sensor data. While the work vehicle 100 is traveling mainly outside the field, the LiDAR sensor 140 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object present in the surrounding environment, or the three-dimensional or two-dimensional coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 140 is processed by a control device of the work vehicle 100. The control device can estimate the self-position of the work vehicle 100 by matching the sensor data with an environmental map. The control device can also detect objects, such as obstacles, present in the vicinity of the work vehicle 100 based on the sensor data. The control device may also generate or compile an environmental map using algorithms such as SLAM (Simultaneous Localization and Mapping). Work vehicle 100 may be equipped with multiple LiDAR sensors positioned at different locations and with different orientations.

[0033] The multiple obstacle sensors 130 shown in FIG. 2 are provided at the front and rear of the cabin 105. The obstacle sensors 130 may also be located in other locations. For example, one or more obstacle sensors 130 may be provided at any position on the side, front, or rear of the vehicle body 101. The obstacle sensors 130 may include, for example, a laser scanner or ultrasonic sonar. The obstacle sensors 130 are used to detect surrounding obstacles during autonomous driving and to stop or detour the work vehicle 100. A LiDAR sensor 140 may be used as one of the obstacle sensors 130.

[0034] The work vehicle 100 further includes a GNSS unit 110. The GNSS unit 110 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the work vehicle 100 based on the signals received by the antenna. The GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the GNSS unit 110 is provided on top of the cabin 105, but may be provided in another location.

[0035] The GNSS unit 110 may include an inertial measurement unit (IMU). Signals from the IMU can be used to complement position data. The IMU can measure the tilt and minute movements of the work vehicle 100. By complementing position data based on satellite signals with data acquired by the IMU, positioning performance can be improved.

[0036] The control device of the work vehicle 100 may use sensor data acquired by sensing devices such as the camera 120 and / or LiDAR sensor 140 for positioning, in addition to the positioning results from the GNSS unit 110. If there are features that function as characteristic points in the environment in which the work vehicle 100 is traveling, such as farm roads, forest roads, public roads, or orchards, the position and orientation of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the camera 120 and / or LiDAR sensor 140 and an environmental map that has been stored in advance in a storage device. The position of the work vehicle 100 can be identified with higher accuracy by correcting or complementing the position data based on satellite signals using the data acquired by the camera 120 and / or LiDAR sensor 140.

[0037] The prime mover 102 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 103 can change the propulsive force and travel speed of the work vehicle 100 by changing gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse travel.

[0038] The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device that assists steering by the steering wheel. The front wheels 104F are steerable wheels, and the traveling direction of the work vehicle 100 can be changed by changing the turning angle (also referred to as the "steering angle"). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering device includes a hydraulic device or an electric motor that supplies an assisting force to change the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic device or electric motor under control of a control device arranged inside the work vehicle 100.

[0039] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also referred to as a "three-point link" or "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The coupling device 108 allows the work implement 300 to be attached to and detached from the work vehicle 100. The coupling device 108 can raise and lower the three-point link using, for example, a hydraulic device, thereby changing the position or attitude of the work implement 300. Power can also be sent from the work vehicle 100 to the work implement 300 via the universal joint. The work vehicle 100 can cause the work implement 300 to perform a predetermined task while towing the work implement 300. The coupling device may be provided at the front of the vehicle body 101. In this case, the work implement 300 can be connected to the front of the work vehicle 100.

[0040] 2 is a rotary tiller, but the work machine 300 is not limited to a rotary tiller. Any work machine, such as a seeder (seed sowing machine), a spreader (fertilizer applicator), a transplanter, a mower (grass cutter), a rake, a baler (grass collector), a harvester (harvesting machine), a sprayer, or a harrow, can be connected to the work vehicle 100 and used.

[0041] 2 is capable of being driven by a driver, but may also be capable of being driven only unmanned. In that case, components required only for driven operation, such as the cabin 105, steering device 106, and driver's seat 107, may not be provided in the work vehicle 100. The unmanned work vehicle 100 can travel autonomously or by remote control by a user.

[0042] 3 is a block diagram showing an example configuration of the work vehicle 100 and the work implement 300. The work vehicle 100 and the work implement 300 can communicate with each other via a communication cable included in the coupling device 108. The work vehicle 100 can communicate with the terminal device 400 and the management device 600 via the network 80.

[0043] In the example of FIG. 3, the work vehicle 100 includes a GNSS unit 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, and an operation terminal 200, as well as a group of sensors 150 that detect the operating state of the work vehicle 100, a control system 160, a communication device 190, a group of operation switches 210, a buzzer 220, and a drive unit 240. These components are communicatively connected to each other via a bus. The GNSS unit 110 includes a GNSS receiver 111, an RTK receiver 112, an inertial measurement unit (IMU) 115, and a processing circuit 116. The group of sensors 150 includes a steering wheel sensor 152, a turning angle sensor 154, and an axle sensor 156. The control system 160 includes a processing device 161, a storage device 170, and a control device 180. The control device 180 includes multiple electronic control units (ECUs) 181 to 185. The work machine 300 includes a drive unit 340, a control unit 380, and a communication unit 390. Note that Fig. 3 shows components that are relatively closely related to the operation of the autonomous driving by the work vehicle 100, and does not show other components.

[0044] The GNSS receiver 111 in the GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, values ​​indicating the identification number, elevation angle, azimuth angle, and reception strength of each satellite from which a satellite signal is received.

[0045] The GNSS unit 110 shown in FIG. 3 performs positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of a work vehicle 100 performing positioning using RTK-GNSS. Positioning using RTK-GNSS uses satellite signals transmitted from multiple GNSS satellites 50 as well as correction signals transmitted from a reference station 60. The reference station 60 may be installed near the field where the work vehicle 100 will be traveling (for example, within 10 km of the work vehicle 100). The reference station 60 generates correction signals, for example in RTCM format, based on the satellite signals received from the multiple GNSS satellites 50 and transmits them to the GNSS unit 110. The RTK receiver 112 includes an antenna and a modem and receives the correction signals transmitted from the reference station 60. The processing circuit 116 of the GNSS unit 110 corrects the positioning results obtained by the GNSS receiver 111 based on the correction signals. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position data including latitude, longitude, and altitude information is obtained through highly accurate positioning using RTK-GNSS. The GNSS unit 110 calculates the position of the work vehicle 100, for example, at a frequency of approximately 1 to 10 times per second.

[0046] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position data with the required accuracy can be used. For example, positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position data with the required accuracy can be obtained without using a correction signal transmitted from the reference station 60, the position data may be generated without using a correction signal. In this case, the GNSS unit 110 does not need to be equipped with the RTK receiver 112.

[0047] Even when RTK-GNSS is used, in places where correction signals from the reference station 60 cannot be obtained (for example, on a road far from a field), the position of the work vehicle 100 is estimated by other methods without relying on signals from the RTK receiver 112. For example, the position of the work vehicle 100 can be estimated by matching data output from the LiDAR sensor 140 and / or camera 120 with a highly accurate environmental map.

[0048] The GNSS unit 110 in this embodiment further includes an IMU 115. The IMU 115 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 115 may also include a direction sensor such as a three-axis geomagnetic sensor. The IMU 115 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, velocity, displacement, and attitude of the work vehicle 100. The processing circuit 116 can estimate the position and orientation of the work vehicle 100 with higher accuracy based on the signals output from the IMU 115 in addition to the satellite signals and correction signals. The signals output from the IMU 115 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU 115 outputs signals at a higher frequency than the GNSS receiver 111. Using these high-frequency signals, the processing circuit 116 can measure the position and orientation of the work vehicle 100 at a higher frequency (e.g., 10 Hz or higher). A three-axis acceleration sensor and a three-axis gyroscope may be provided separately instead of the IMU 115. The IMU 115 may be provided as a device separate from the GNSS unit 110.

[0049] The camera 120 is an imaging device that captures images of the environment around the work vehicle 100. The camera 120 includes an image sensor, such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 120 may also include an optical system including one or more lenses and a signal processing circuit. The camera 120 captures images of the environment around the work vehicle 100 while the work vehicle 100 is traveling and generates image (e.g., video) data. The camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by the camera 120 can be used, for example, when a remote observer checks the environment around the work vehicle 100 using the terminal device 400. The images generated by the camera 120 may be used for positioning or obstacle detection. As shown in FIG. 2, multiple cameras 120 may be installed at different positions on the work vehicle 100, or a single camera may be installed. A visible light camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both a visible light camera and an infrared camera may be provided as cameras that generate images for surveillance. The infrared camera can also be used to detect obstacles at night.

[0050] The obstacle sensor 130 detects objects present in the vicinity of the work vehicle 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 outputs a signal indicating the presence of an obstacle when an object is present closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be provided at different positions on the work vehicle 100. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the work vehicle 100. By providing such a large number of obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0051] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F, which are the steered wheels. The measurement values ​​from the steering wheel sensor 152 and the turning angle sensor 154 are used for steering control by the control device 180.

[0052] The axle sensor 156 measures the rotational speed of the axle connected to the wheel 104, i.e., the number of rotations per unit time. The axle sensor 156 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs a numerical value that indicates, for example, the number of rotations per minute (unit: rpm) of the axle. The axle sensor 156 is used to measure the speed of the work vehicle 100.

[0053] The drive device 240 includes various devices necessary for the travel of the work vehicle 100 and the driving of the work implement 300, such as the prime mover 102, transmission 103, steering device 106, and coupling device 108 described above. The prime mover 102 may be equipped with an internal combustion engine such as a diesel engine. The drive device 240 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.

[0054] The buzzer 220 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 220 emits the warning sound when an obstacle is detected during automatic driving. The buzzer 220 is controlled by the control device 180.

[0055] The processing device 161 is, for example, a microprocessor or a microcontroller. The processing device 161 processes sensor data output from sensing devices such as the camera 120, the obstacle sensor 130, and the LiDAR sensor 140. For example, the processing device 161 detects objects located around the work vehicle 100 based on the data output from the camera 120, the obstacle sensor 130, and the LiDAR sensor 140.

[0056] The storage device 170 includes one or more storage media, such as flash memory or a magnetic disk. The storage device 170 stores various data generated by the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, the sensor group 150, and the control device 180. The data stored in the storage device 170 may include map data (environmental map) of the environment in which the work vehicle 100 travels and target route data for autonomous driving. The environmental map includes information on multiple fields in which the work vehicle 100 will perform agricultural work and the roads in their surrounding areas. The environmental map and target route may be generated by a processor in the management device 600. The control device 180 may also have a function for generating or editing the environmental map and target route. The control device 180 can edit the environmental map and target route obtained from the management device 600 according to the travel environment of the work vehicle 100. The storage device 170 also stores work plan data received by the communication device 190 from the management device 600.

[0057] The storage device 170 also stores computer programs that cause the processing device 161 and each ECU in the control device 180 to execute various operations, which will be described later. Such computer programs may be provided to the work vehicle 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or an electric communication line (e.g., the Internet). Such computer programs may also be sold as commercial software.

[0058] The control device 180 includes a plurality of ECUs, such as an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for work machine control, an ECU 184 for automatic driving control, and an ECU 185 for path generation.

[0059] The ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102 , the transmission 103 , and the brakes included in the drive unit 240 .

[0060] The ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic device or electric motor included in the steering device 106 based on the measurement value of the steering wheel sensor 152 .

[0061] The ECU 183 controls the operation of the three-point link and PTO shaft included in the coupling device 108, etc., in order to cause the work machine 300 to perform a desired operation. The ECU 183 also generates signals to control the operation of the work machine 300, and transmits these signals from the communication device 190 to the work machine 300.

[0062] The ECU 184 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, the sensor group 150, and the processing device 161. For example, the ECU 184 identifies the position of the work vehicle 100 based on data output from at least one of the GNSS unit 110, the camera 120, and the LiDAR sensor 140. Within a farm field, the ECU 184 may determine the position of the work vehicle 100 based solely on data output from the GNSS unit 110. The ECU 184 may estimate or correct the position of the work vehicle 100 based on data acquired by the camera 120 and / or the LiDAR sensor 140. By utilizing the data acquired by the camera 120 and / or the LiDAR sensor 140, the accuracy of positioning can be further improved. Furthermore, outside the field, ECU 184 estimates the position of work vehicle 100 using data output from LiDAR sensor 140 and / or camera 120. For example, ECU 184 may estimate the position of work vehicle 100 by matching the data output from LiDAR sensor 140 and / or camera 120 with an environmental map. During autonomous driving, ECU 184 performs calculations necessary for work vehicle 100 to travel along a target route based on the estimated position of work vehicle 100. ECU 184 sends a speed change command to ECU 181 and a steering angle change command to ECU 182. In response to the speed change command, ECU 181 changes the speed of work vehicle 100 by controlling prime mover 102, transmission 103, or brakes. In response to the steering angle change command, ECU 182 changes the steering angle by controlling steering device 106.

[0063] ECU 185 may determine the destination of work vehicle 100 based on the work plan stored in storage device 170, and determine a target route from the start point to the destination point of work vehicle 100. ECU 185 may perform processing to detect objects located around work vehicle 100 based on data output from camera 120, obstacle sensor 130, and LiDAR sensor 140.

[0064] Through the operation of these ECUs, control device 180 realizes autonomous driving. During autonomous driving, control device 180 controls drive device 240 based on the measured or estimated position of work vehicle 100 and the target route. In this way, control device 180 causes work vehicle 100 to travel along the target route.

[0065] The multiple ECUs included in the control device 180 can communicate with each other in accordance with a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In FIG. 3, each of the ECUs 181 to 185 is shown as an individual block, but the functions of each of these may be realized by multiple ECUs. An on-board computer that integrates at least some of the functions of the ECUs 181 to 185 may be provided. The control device 180 may include ECUs other than the ECUs 181 to 185, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors. The control device 180 may include a processing device 161. The processing device 161 may be integrated with one of the ECUs included in the control device 180.

[0066] The communication device 190 includes circuits for communicating with the work machine 300, the terminal device 400, and the management device 600. The communication device 190 includes circuits for transmitting and receiving signals compliant with ISOBUS standards, such as ISOBUS-TIM, between the communication device 390 of the work machine 300. This allows the work machine 300 to perform desired operations and acquire information from the work machine 300. The communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals between the communication devices of the terminal device 400 and the management device 600 via the network 80. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet. The communication device 190 may also have a function for communicating with a mobile device used by an observer near the work vehicle 100. Communication with such a mobile device may be performed using any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth (registered trademark).

[0067] The operation terminal 200 is a terminal through which a user performs operations related to the travel of the work vehicle 100 and the operation of the work implement 300, and is also referred to as a virtual terminal (VT). The operation terminal 200 may include a display device such as a touch screen and / or one or more buttons. The display device may be, for example, a liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operation terminal 200, a user can perform various operations, such as switching the autonomous driving mode on / off, recording or editing an environmental map, setting a target route, and switching the work implement 300 on / off. At least some of these operations can also be achieved by operating the operation switch group 210. The operation terminal 200 may be configured to be detachable from the work vehicle 100. A user located remote from the work vehicle 100 may operate the detached operation terminal 200 to control the operation of the work vehicle 100. Instead of the operation terminal 200, the user may control the operation of the work vehicle 100 by operating a computer, such as a terminal device 400, on which necessary application software is installed.

[0068] 5 is a diagram showing an example of operation terminal 200 and operation switch group 210 provided inside cabin 105. Operation switch group 210 including a plurality of switches that can be operated by the user is arranged inside cabin 105. Operation switch group 210 may include, for example, a switch for selecting the gear stage of the main transmission or auxiliary transmission, a switch for switching between automatic driving mode and manual driving mode, a switch for switching between forward and reverse, and a switch for raising and lowering work implement 300. Note that if work vehicle 100 only performs unmanned operation and does not have the function of manned operation, work vehicle 100 does not need to be equipped with operation switch group 210.

[0069] The drive unit 340 in the work implement 300 shown in Figure 3 performs the operations required for the work implement 300 to perform a predetermined task. The drive unit 340 includes devices appropriate for the intended use of the work implement 300, such as a hydraulic device, an electric motor, or a pump. The control device 380 controls the operation of the drive unit 340. The control device 380 causes the drive unit 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. In addition, a signal appropriate to the state of the work implement 300 can also be transmitted from the communication device 390 to the work vehicle 100.

[0070] Next, the configurations of the management device 600 and the terminal device 400 will be described with reference to Fig. 6. Fig. 6 is a block diagram illustrating a schematic hardware configuration of the management device 600 and the terminal device 400.

[0071] The management device 600 includes a storage device 650, a processor 660, a read-only memory (ROM) 670, a random access memory (RAM) 680, and a communication device 690. These components are communicatively connected to each other via a bus. The management device 600 manages the schedule of agricultural work performed in the field by the work vehicle 100 and can function as a cloud server that supports agriculture by utilizing the data it manages. A user can input information necessary for creating a work plan using the terminal device 400 and upload that information to the management device 600 via the network 80. The management device 600 can create a schedule of agricultural work, i.e., a work plan, based on that information. The management device 600 can also generate or edit an environmental map. The environmental map may be distributed from a computer external to the management device 600.

[0072] The communication device 690 is a communication module for communicating with the work vehicle 100 and the terminal device 400 via the network 80. The communication device 690 can perform wired communication in accordance with communication standards such as IEEE1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may also perform wireless communication in accordance with the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0073] The processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 660 may be implemented by a microprocessor or a microcontroller. Alternatively, the processor 660 may be implemented by a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), or a combination of two or more circuits selected from these circuits. The processor 660 sequentially executes a computer program stored in the ROM 670, which describes a group of instructions for executing at least one process, to achieve the desired process.

[0074] The ROM 670 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory. The ROM 670 stores a program that controls the operation of the processor 660. The ROM 670 does not need to be a single storage medium, but may be a collection of multiple storage media. Part of the collection of multiple storage media may be removable memory.

[0075] The RAM 680 provides a working area for temporarily loading the control program stored in the ROM 670 at boot time. The RAM 680 does not have to be a single storage medium, but may be a collection of multiple storage media.

[0076] The storage device 650 mainly functions as database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. An example of a magnetic storage device is a hard disk drive (HDD). An example of a semiconductor storage device is a solid state drive (SSD). The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as a cloud storage device.

[0077] The terminal device 400 includes an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are communicatively connected to one another via a bus. The input device 420 is a device for converting user instructions into data and inputting the data to a computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic EL display. The processor 460, the ROM 470, the RAM 480, the storage device 450, and the communication device 490 are described in the hardware configuration example of the management device 600, and therefore their description will be omitted.

[0078] [2. Operation] Next, the operations of the work vehicle 100, the terminal device 400, and the management device 600 will be described.

[0079] [2-1.Automatic driving operation] First, an example of the operation of autonomous driving by the work vehicle 100 will be described. The work vehicle 100 in this embodiment can travel autonomously both inside and outside a field. Within a field, the work vehicle 100 drives the work implement 300 while traveling along a predetermined target route to perform predetermined agricultural work. If the work vehicle 100 detects an obstacle while traveling within a field, it stops traveling, emits a warning sound from the buzzer 220, and transmits a warning signal to the terminal device 400. Within a field, the position of the work vehicle 100 is determined mainly based on data output from the GNSS unit 110. On the other hand, outside the field, the work vehicle 100 travels autonomously along a target route set on a farm road or public road outside the field. While traveling outside the field, the work vehicle 100 travels using data acquired by the camera 120 and / or the LiDAR sensor 140. When work vehicle 100 detects an obstacle outside the field, it either avoids the obstacle or stops there. Outside the field, the position of work vehicle 100 is estimated based on the positioning data output from GNSS unit 110 as well as the data output from LiDAR sensor 140 and / or camera 120.

[0080] An example of the operation of the work vehicle 100 when it travels automatically within a farm field will now be described.

[0081] FIG. 7 is a schematic diagram illustrating an example of a work vehicle 100 automatically traveling through a field along a target route. In this example, the field 70 includes a work area 72 where the work vehicle 100 performs work using the work implement 300 and a headland 74 located near the outer periphery of the field 70. The user can set in advance which areas of the field 70 on the map correspond to the work area 72 or the headland 74. The target route in this example includes multiple parallel main routes P1 and multiple turning routes P2 connecting the multiple main routes P1. The main routes P1 are located within the work area 72, and the turning routes P2 are located within the headland 74. Although each main route P1 shown in FIG. 7 is a straight route, each main route P1 may also include a curved portion. The dashed line in FIG. 7 represents the working width of the work implement 300. The working width is set in advance and recorded in the storage device 170. The working width may be set and recorded by the user operating the operation terminal 200 or the terminal device 400. Alternatively, the working width may be automatically recognized and recorded when the work implement 300 is connected to the work vehicle 100. The spacing between the multiple main paths P1 may be set to match the working width. A target route may be created based on user operation before autonomous driving begins. The target route may be created to cover the entire work area 72 within the field 70, for example. The work vehicle 100 automatically travels back and forth from the start point of the work to the end point of the work, along a target route such as that shown in FIG. 7. Note that the target route shown in FIG. 7 is merely an example, and the target route may be defined in any manner.

[0082] Next, an example of control by the control device 180 during automatic operation in a farm field will be described.

[0083] FIG. 8 is a flowchart showing an example of the operation of steering control during automatic driving executed by the control device 180. The control device 180 performs automatic steering by executing the operations of steps S121 to S125 shown in FIG. 8 while the work vehicle 100 is traveling. The speed is maintained at, for example, a preset speed. While the work vehicle 100 is traveling, the control device 180 acquires data indicating the position of the work vehicle 100 generated by the GNSS unit 110 (step S121). Next, the control device 180 calculates the deviation between the position of the work vehicle 100 and the target route (step S122). The deviation represents the distance between the position of the work vehicle 100 at that time and the target route. The control device 180 determines whether the calculated position deviation exceeds a preset threshold (step S123). If the deviation exceeds the threshold, the control device 180 changes the steering angle by changing the control parameters of the steering device included in the drive device 240 so as to reduce the deviation. If the deviation does not exceed the threshold value in step S123, the operation of step S124 is skipped. In the following step S125, the control device 180 determines whether or not a command to end the operation has been received. A command to end the operation may be issued, for example, when a user remotely instructs the work vehicle 100 to stop autonomous driving, or when the work vehicle 100 reaches its destination. If a command to end the operation has not been issued, the process returns to step S121, and the same operation is performed based on the newly measured position of the work vehicle 100. The control device 180 repeats the operations of steps S121 to S125 until a command to end the operation is issued. The above operations are executed by the ECUs 182 and 184 in the control device 180.

[0084] 8, the control device 180 controls the drive device 240 based only on the deviation between the position of the work vehicle 100 identified by the GNSS unit 110 and the target route, but the control may also take into consideration the deviation in heading. For example, when the heading deviation, which is the angular difference between the orientation of the work vehicle 100 identified by the GNSS unit 110 and the direction of the target route, exceeds a preset threshold, the control device 180 may change the control parameters (e.g., steering angle) of the steering device of the drive device 240 in accordance with the deviation.

[0085] An example of steering control by the control device 180 will be described in more detail below with reference to FIGS. 9A to 9D.

[0086] FIG. 9A is a diagram showing an example of a work vehicle 100 traveling along a target route P. FIG. 9B is a diagram showing an example of a work vehicle 100 shifted to the right from the target route P. FIG. 9C is a diagram showing an example of a work vehicle 100 shifted to the left from the target route P. FIG. 9D is a diagram showing an example of a work vehicle 100 facing in an inclined direction with respect to the target route P. In these figures, the pose indicating the position and orientation of the work vehicle 100 measured by the GNSS unit 110 is expressed as r(x, y, θ). (x, y) are coordinates representing the position of the reference point of the work vehicle 100 in the XY coordinate system, which is a two-dimensional coordinate system fixed to the Earth. In the examples shown in FIGS. 9A to 9D, the reference point of the work vehicle 100 is located at the position where the GNSS antenna is installed on the cabin, but the position of the reference point is arbitrary. θ is an angle representing the measured orientation of the work vehicle 100. In the examples shown, the target route P is parallel to the Y axis, but generally, the target route P is not necessarily parallel to the Y axis.

[0087] As shown in FIG. 9A, if the position and orientation of the work vehicle 100 do not deviate from the target route P, the control device 180 maintains the steering angle and speed of the work vehicle 100 unchanged.

[0088] As shown in Fig. 9B, when the position of work vehicle 100 has shifted to the right from target route P, control device 180 changes the steering angle so that the traveling direction of work vehicle 100 leans leftward and approaches route P. At this time, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle can be adjusted, for example, according to the magnitude of position deviation Δx.

[0089] As shown in Fig. 9C, when the position of work vehicle 100 has shifted to the left from target route P, control device 180 changes the steering angle so that the traveling direction of work vehicle 100 tilts to the right and approaches route P. In this case, too, the speed may be changed in addition to the steering angle. The amount of change in the steering angle may be adjusted, for example, according to the magnitude of position deviation Δx.

[0090] As shown in FIG. 9D , when the position of the work vehicle 100 is not significantly deviated from the target route P but the heading is different from the direction of the target route P, the control device 180 changes the steering angle to reduce the azimuth deviation Δθ. In this case, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle may be adjusted, for example, according to the magnitudes of the position deviation Δx and the azimuth deviation Δθ. For example, the smaller the absolute value of the position deviation Δx, the greater the amount of change in the steering angle according to the azimuth deviation Δθ. When the absolute value of the position deviation Δx is large, the steering angle will be changed significantly to return to the route P, which inevitably increases the absolute value of the azimuth deviation Δθ. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the azimuth deviation Δθ closer to zero. For this reason, it is appropriate to relatively increase the weight of the azimuth deviation Δθ (i.e., the control gain) used to determine the steering angle.

[0091] Control techniques such as PID control or MPC control (model predictive control) can be applied to the steering control and speed control of work vehicle 100. By applying these control techniques, it is possible to smooth the control that brings work vehicle 100 closer to target path P.

[0092] If an obstacle is detected by sensing devices such as camera 120, obstacle sensor 130, and LiDAR sensor 140 while the work vehicle 100 is traveling, the control device 180 will stop the work vehicle 100. At this time, the control device 180 may cause the buzzer 220 to emit a warning sound or send a warning signal to the terminal device 400. If it is possible to avoid the obstacle, the control device 180 may control the drive device 240 to avoid the obstacle.

[0093] The work vehicle 100 in this embodiment is capable of autonomous driving not only in farm fields but also outside of farm fields. Outside of farm fields, the processing device 161 and / or the control device 180 can detect objects (e.g., other vehicles or pedestrians) present around the work vehicle 100 based on data output from sensing devices such as the camera 120, obstacle sensor 130, and LiDAR sensor 140. By using the camera 120 and the LiDAR sensor 140, it is possible to detect objects that are present at a relatively long distance from the work vehicle 100. The control device 180 can achieve autonomous driving on roads outside of farm fields by performing speed control and steering control so as to avoid detected objects.

[0094] In this way, the work vehicle 100 in this embodiment can travel autonomously within and outside a field without a driver. FIG. 10 is a diagram schematically illustrating an example of a situation in which multiple work vehicles 100 are traveling autonomously inside a field 70 and on a road 76 outside the field 70. An environmental map and a target route of an area including multiple fields 70 and their surrounding roads are stored in the storage device 170. The environmental map and the target route may be generated by the management device 600 or the ECU 185. When the work vehicle 100 travels on a road, the work vehicle 100 travels along the target route with the work implement 300 raised, while sensing the surroundings using sensing devices such as the camera 120, obstacle sensor 130, and LiDAR sensor 140.

[0095] [2-2. Setting the warning area according to the implement] Next, a process for setting a warning area in accordance with the work machine (implement) 300 connected to the work vehicle 100 will be described.

[0096] It may be desirable for humans not to enter an area near the implement 300 that is performing work in a field or the like. For this reason, it is conceivable to set a warning area around the implement 300. The warning area is an area in which, if it is determined that a human is present within the area, at least one of the following actions will be performed: issuing an alarm, stopping the work of the implement 300, or slowing down the work of the implement 300.

[0097] First, the sensing area, search area, and alert area will be described.

[0098] As described above, sensing devices such as camera 120, obstacle sensor 130, and LiDAR sensor 140 sense the environment around work vehicle 100 and output sensor data. The work vehicle 100 of this embodiment is equipped with a sensing system 10 ( FIG. 3 ) that uses the sensor data output by the sensing devices to detect objects located around the work vehicle 100. The sensing system 10 is equipped with a processing device 161, camera 120, obstacle sensor 130, and LiDAR sensor 140.

[0099] FIG. 11 is a diagram showing an example of a sensing area 710 sensed by the sensing device.

[0100] Sensing area 710 includes a front sensing area 710F, a rear sensing area 710Re, a left side sensing area 710L, and a right side sensing area 710R. Fig. 11 shows the sensing areas in a plan view seen from the vertical direction when work vehicle 100 is positioned on level ground.

[0101] In this example, work vehicle 100 is equipped with sensing devices 700F, 700Re, 700L, and 700R as sensing devices. Sensing device 700F is located at the front of work vehicle 100 and mainly senses the surrounding environment extending in front of work vehicle 100. Sensing device 700Re is located at the rear of work vehicle 100 and mainly senses the surrounding environment extending behind work vehicle 100. Sensing device 700L is located on the left side of work vehicle 100 and mainly senses the surrounding environment extending to the left side of work vehicle 100. Sensing device 700R is located on the right side of work vehicle 100 and mainly senses the surrounding environment extending to the right side of work vehicle 100. Sensing devices 700Re, 700L, and 700R can be provided in cabin 105 ( FIG. 2 ) of work vehicle 100, for example. Sensing device 700Re may be provided in implement 300.

[0102] In this embodiment, a camera 120 and a LiDAR sensor 140 are arranged as sensing device 700F at the front of work vehicle 100. A camera 120 and a LiDAR sensor 140 are arranged as sensing device 700Re at the rear of work vehicle 100. A camera 120, an obstacle sensor 130, and a LiDAR sensor 140 are arranged as sensing device 700L at the left side of work vehicle 100. A camera 120, an obstacle sensor 130, and a LiDAR sensor 140 are arranged as sensing device 700R at the right side of work vehicle 100. An obstacle sensor 130 may be included in sensing devices 700F and 700Re.

[0103] In the following, in order to clearly explain the features, the sensing area 710 will be described as an example of the area sensed by the LiDAR sensor 140.

[0104] The LiDAR sensor 140 emits pulses of a laser beam (hereinafter abbreviated as "laser pulses") one after another while changing the emission direction, and can measure the distance to each reflection point from the time difference between the emission time and the time when the reflected light of each laser pulse is acquired. The "reflection points" may be objects located in the environment surrounding the work vehicle 100.

[0105] The LiDAR sensor 140 can measure the distance from the LiDAR sensor 140 to an object using any method. Measurement methods for the LiDAR sensor 140 include, for example, mechanical rotation, MEMS, and phased array methods. These measurement methods each use a different method for emitting laser pulses (scanning methods). For example, a mechanical rotation LiDAR sensor rotates a cylindrical head that emits laser pulses and detects the reflected light of the laser pulses to scan the surrounding environment in all directions 360 degrees around the rotation axis. A MEMS LiDAR sensor uses a MEMS mirror to oscillate the emission direction of the laser pulses and scan the surrounding environment within a predetermined angular range centered on the oscillation axis. A phased array LiDAR sensor controls the phase of light to oscillate the emission direction of light and scan the surrounding environment within a predetermined angular range centered on the oscillation axis.

[0106] As described above, the sensing area 710 includes the front sensing area 710F, the rear sensing area 710Re, the left side sensing area 710L, and the right side sensing area 710R. The front sensing area 710F is an area sensed by the LiDAR sensor 140 arranged at the front of the work vehicle 100. The rear sensing area 710Re is an area sensed by the LiDAR sensor 140 arranged at the rear of the work vehicle 100. The left side sensing area 710L is an area sensed by the LiDAR sensor 140 arranged on the left side of the work vehicle 100. The right side sensing area 710R is an area sensed by the LiDAR sensor 140 arranged on the right side of the work vehicle 100.

[0107] The processing device 161 (FIG. 3) detects an object located in a search area around the work vehicle 100 based on the sensor data output by the LiDAR sensor 140. The search area is an area of ​​the sensing area 710 where an object search is performed. The search area may be the same size as the sensing area 710, or may be smaller than the sensing area 710. The search area may also be referred to as a region of interest (ROI).

[0108] 12 is a diagram showing the relationship between a sensing area 710 sensed by the LiDAR sensor 140 and a search area 720 in which an object is searched for. The shape, size, and position of the search area can be realized, for example, by changing the data portion used to search for an object among the three-dimensional point cloud data output by the LiDAR sensor 140.

[0109] The 3D point cloud data output by the LiDAR sensor 140 includes information about the positions of multiple points and information (attribute information) such as the reception intensity of the photodetector. The information about the positions of the multiple points is, for example, information about the emission direction of the laser pulse corresponding to the point and the distance between the LiDAR sensor and the point. In addition, for example, the information about the positions of the multiple points is information about the coordinates of the points in a local coordinate system. The local coordinate system is a coordinate system that moves together with the work vehicle 100 and is also referred to as a sensor coordinate system. The coordinates of each point can be calculated from the emission direction of the laser pulse corresponding to the point and the distance between the LiDAR sensor and the point.

[0110] For example, a search region can be set based on the coordinates of each point. By selecting points located within a desired shape in the local coordinate system as points to be used for searching the object, a search region of the desired shape can be set.

[0111] The search region 720 includes a forward search region 720F, a backward search region 720Re, a left side search region 720L, and a right side search region 720R.

[0112] Search area 720F can be set by selecting points located within a predetermined shape in the local coordinate system from among the multiple points indicated by the three-dimensional point cloud data output by LiDAR sensor 140 located at the front of work vehicle 100. Search area 720Re can be set by selecting points located within a predetermined shape in the local coordinate system from among the multiple points indicated by the three-dimensional point cloud data output by LiDAR sensor 140 located at the rear of work vehicle 100.

[0113] Search region 720L can be set by selecting points located within a predetermined shape in the local coordinate system from among multiple points indicated by the three-dimensional point cloud data output by LiDAR sensor 140 located on the left side of work vehicle 100. Search region 720R can be set by selecting points located within a predetermined shape in the local coordinate system from among multiple points indicated by the three-dimensional point cloud data output by LiDAR sensor 140 located on the right side of work vehicle 100.

[0114] FIG. 13 is a diagram showing the relationship between the search region 720 and the warning region 730. The warning region 730 can be set in a predetermined region within the search region 720. The warning region 730 can be set by selecting points located within a predetermined shape in the local coordinate system from among multiple points indicated by the 3D point cloud data output by the LiDAR sensor 140. In this embodiment, the warning region 730 is set around the implement 300 connected to the work vehicle 100. The control system 160 (FIG. 3) determines whether or not a human is present within the set warning region 730, and if it determines that a human is present, controls at least one of the following actions: issuing an alarm, stopping the work of the implement 300, and slowing down the work of the implement 300.

[0115] 13 shows the warning area 730 in a plan view seen from the vertical direction when the work vehicle 100 and the implement 300 are positioned on horizontal ground. In this embodiment, the size of the warning area 730 in a plan view seen from the vertical direction is changed depending on the implement 300 being used.

[0116] Since the size and operation of each implement may differ, it is conceivable to vary the size of the alert region 730 for each implement. It is conceivable to set the size of the alert region 730 for each implement using information unique to each implement, such as the size of the implement.

[0117] On the other hand, there are many manufacturers that produce implements, and each manufacturer sells a variety of implements. There are a huge number of models of implements available in the market, and many models do not have information such as size disclosed by the manufacturer.

[0118] If it is not possible to obtain information necessary for setting the size of the alert area 730, such as the size of the implement to be used, it is difficult to set the size of the alert area 730. Even when using an implement for which the information necessary for setting the size of the alert area 730 is not made public by the manufacturer, it is desired to be able to set the size of the alert area 730.

[0119] In the agricultural management system 1 of this embodiment, implement information relating to multiple types of implements provided by multiple users is acquired, and the acquired implement information is stored in the server 600. Implement information corresponding to the identification information of the implement 300 connected to the work vehicle 100 is acquired from the server 600, and the size of the alert area 730 is set based on the acquired implement information.

[0120] FIG. 14 is a diagram showing an agricultural management system 1 in which implement information provided by multiple users is stored in a server 600. Each user can use a terminal device 800 to upload information about the implements that the user owns and / or uses to the server 600. The terminal device 800 is a computer used by the user. The terminal device 800 can be, for example, a stationary computer such as a laptop computer or a desktop personal computer (PC), or a mobile terminal such as a smartphone or a tablet computer.

[0121] FIG. 15 is a diagram showing an example of an input screen for implement information displayed on the display of the terminal device 800. As shown in FIG.

[0122] 15, the user inputs the type, model number, overall length, overall width, overall height, and offset length of the implement as implement information. The user can also upload image data of the implement as implement information.

[0123] The types of implements include, for example, cultivators, seeders, spreaders, transplanters, mowers, rakes, balers, harvesters, sprayers, harrows, etc. These types of implements are merely examples and are not limited to these.

[0124] The model number is a number assigned by the manufacturer for each type of implement, and can be composed of a combination of multiple numbers, letters, and other arbitrary symbols. The overall length is the length of the implement in the front-to-back direction. The overall width is the length of the implement in the left-to-right direction. The overall height is the length of the implement in the height direction.

[0125] The offset length is the amount of deviation from the connecting portion of the implement to which the coupling device is connected. The front-to-rear offset length is the length in the front-to-rear direction between the front end of the implement and the connecting portion. The left-to-right offset length is the length in the left-to-right direction between the left-to-right center of the implement and the connecting portion. The position of the connecting portion that serves as the basis for the offset length can be, for example, the position of the implement to which the PTO shaft is connected.

[0126] Information about the length of the implement can be obtained, for example, by the user measuring the length of each part of the implement. The size information of the implement used to set the alert area 730 does not need to be strictly accurate and may be an approximate value. For example, a measurement error of about ±10 percent may be acceptable. Because the width of the alert area 730 can be several meters, it is possible to set the alert area 730 even if the size value is an approximate value.

[0127] A user can upload the above-mentioned implement information to the server 600 via the terminal device 800. The server 600 stores implement information collected from a plurality of users.

[0128] 16 and 17 are diagrams showing examples of implement information stored in the server 600. Implement information collected from a plurality of users can be stored in the server 600 after being organized by model number.

[0129] Next, a description will be given of a process for setting the alert area 730 using the implement information stored in the server 600. Fig. 18 is a flowchart showing an example of a process for setting the alert area 730 using the implement information stored in the server 600.

[0130] First, identification information that identifies the implement 300 connected to the work vehicle 100 is acquired (step S201). The processing device 161 of the work vehicle 100 acquires the identification information from, for example, the implement 300 connected to the work vehicle 100. The identification information indicates, for example, the model number of the implement 300.

[0131] 19 is a block diagram showing an example of the hardware configuration of the implement 300. The implement 300 includes a control device 380, a communication device 390, and a driving device 340. These components are connected to each other via a bus so that they can communicate with each other. The control device 380 includes a processor 381, a ROM 382, ​​and a RAM 383.

[0132] The communication device 190 (FIG. 3) of the work vehicle 100 and the communication device 390 of the implement 300 perform data communication between the work vehicle 100 and the implement 300. For example, when communication conforms to a communication control standard such as ISOBUS based on ISO 11783, bidirectional communication is possible between the work vehicle 100 and the implement 300. When the work vehicle 100 and the implement 300 are compatible with a Tractor-Implement Management (TIM) system such as ISOBUS-TIM, control from the work vehicle 100 to the implement 300 and control from the implement 300 to the work vehicle 100 are possible. These communications can be performed by wired communication, but may also be performed by wireless communication.

[0133] The identification information is stored in advance in a storage device within the implement 300, for example, the ROM 382. As described above, the work vehicle 100 and the implement 300 can communicate in accordance with a communication control standard such as ISOBUS.

[0134] When the implement 300 is coupled to the work vehicle 100, the processor 381 reads the identification information from the ROM 382 and outputs it to the work vehicle 100 via the communication device 390. The processing device 161 of the work vehicle 100 outputs the received identification information to the server 600 via the communication device 190. The processing device 161 requests the server 600 to transmit implement information corresponding to the identification information to the work vehicle 100.

[0135] The processor 660 of the server 600 reads out from the storage device 650 the implement information corresponding to the model number indicated in the received identification information, and transmits it to the work vehicle 100 via the communication device 690. The communication device 190 of the work vehicle 100 receives the implement information transmitted from the server 600, and the processing device 161 can acquire the implement information (step S202).

[0136] The implement information includes size information such as the overall length, overall width, overall height, and offset length of the implement 300. The processing device 161 sets the size of the alert area 730 using, for example, this size information.

[0137] The processing device 161 calculates the position of at least a part of the outer shape of the implement 300 in the local coordinate system of the work vehicle 100 and the implement 300 coupled to each other, based on the size information (step S203).

[0138] 20 is a diagram showing an example of a method for calculating the position of at least a part of the outline of the implement 300 in the local coordinate system. The processing device 161 executes, for example, the calculations described below to calculate the coordinates of at least a part of the outline of the implement 300.

[0139] In the local coordinate system of this embodiment, the front-to-rear direction of the vehicle when the coupled work vehicle 100 and implement 300 are traveling straight on flat ground is defined as the X direction, and the left-to-right direction is defined as the Y direction. The direction from rear to front is defined as the +X direction, and the direction from left to right is defined as the +Y direction. ISO 11783 defines device geometry as follows: "The X axis is specified as positive in the normal traveling direction," and "The Y axis is specified as positive to the right of the device relative to the normal traveling direction." The X and Y directions in the local coordinate system of this embodiment are defined based on this definition of device geometry. The units of coordinate values ​​in the local coordinate system are arbitrary, and millimeters are used here as an example.

[0140] In the local coordinate system for the work vehicle 100 alone and the local coordinate system for the implement 300 alone, the XY directions and units of coordinate values ​​are defined in the same manner as above.

[0141] In the example shown in Figure 20, a tiller, which is an example of an implement 300, is connected to the work vehicle 100. The overall length of the implement 300 is L1X, and the overall width is L1Y. The offset length is zero in both the front-to-rear and left-to-right directions.

[0142] The work vehicle 100 and the implement 300 are connected using the coupling device 108. A reference point R1 in the local coordinate system can be set at any position on the work vehicle 100. The coordinate values ​​of the reference point R1 are stored in advance in the memory device 170 of the work vehicle 100. In the example shown in FIG. 20, the reference point R1 is set on a center line CL1 that passes through the center position in the left-right direction of the work vehicle 100 and extends in the front-to-rear direction. The Y coordinate of the reference point R1 is the same as the Y coordinate of the center line CL1. The X coordinate of the reference point R1 is set to the X coordinate of the connection position between the work vehicle 100 and the coupling device 108 (i.e., approximately the position of the front end of the coupling device 108). The PTO shaft extends rearward from the position where the center line CL1 passes through at the rear of the work vehicle 100.

[0143] The value of the length L2X in the fore-and-aft direction of the coupling device 108 is stored in advance in the storage device 170 of the work vehicle 100. The value of the length L2X may be input by the user using, for example, the input device 420. The X coordinate of the position A1 of the rear end of the coupling device 108 is set to the X coordinate of the front end of the implement 300.

[0144] In the example shown in Fig. 20, the offset length is zero. Therefore, the X coordinate of a position that is length L2X rearward from reference point R1 is set to the X coordinate of the front end portion of implement 300. The X coordinate of a position that is length L1X plus length L2X rearward from reference point R1 is set to the X coordinate of the rear end portion of implement 300.

[0145] The Y coordinate of the center position of the implement in the left-right direction is the same as the Y coordinate of the center line CL1. The length L2Y between the center line CL1 and the left end of the implement 300 is half the overall width L1Y. The length L3Y between the center line CL1 and the right end of the implement 300 is half the overall width L1Y. The Y coordinate of the position extending the length L2Y to the left from the center line CL1 is the Y coordinate of the left end of the implement 300. The Y coordinate of the position extending the length L3Y to the right from the center line CL1 is the Y coordinate of the right end of the implement 300.

[0146] As described above, the processing device 161 calculates the X coordinates of the front and rear ends of the implement 300, and also calculates the Y coordinates of the left and right ends of the implement 300. Using these coordinates, the processing device 161 can obtain data on a rectangular outline 740 ( FIG. 21 ) that roughly follows the outline of the implement 300, as well as the coordinates of each part of the outline 740. This rectangular outline 740 passes through the front, rear, left, and right ends of the implement 300.

[0147] FIG. 21 is a diagram showing an example of a warning area 730 set around the implement 300. As shown in FIG.

[0148] The processing device 161 sets an area within a predetermined distance from the position of at least a part of the calculated outline of the implement 300 as the security area 730. In the example shown in Fig. 21, an area within a predetermined distance Li from the outline 740 is set as the security area 730 (step S204 in Fig. 18). The predetermined distance Li is, for example, 2-7 m, but is not limited to this value.

[0149] While the implement 300 is working in the field, the processing device 161 determines whether or not a human is present in the set alert area 730 using sensor data output by one or more of the camera 120, the obstacle sensor 130, and the LiDAR sensor 140 (step S205). By using two or more types of sensors, an area that is difficult for one sensor to sense can be complemented by another sensor. For example, an area that is a blind spot for the LiDAR sensor 140 can be complemented by sensing using the camera 120 and / or the obstacle sensor 130.

[0150] The processing device 161 determines whether or not a human is present in the security area 730 by using, for example, an estimation model generated by machine learning to estimate whether or not point cloud data representing a human is present in the three-dimensional point cloud data output by the LiDAR sensor 140. Furthermore, for example, the processing device 161 determines whether or not a human is present in the security area 730 by using, for example, an estimation model generated by machine learning to estimate whether or not image data representing a human is present in the image data output by the camera 120. Such an estimation model is stored in advance in the storage device 170.

[0151] The processing device 161 may use a combination of the three-dimensional point cloud data output by the LiDAR sensor 140 and the image data output by the camera 120 to determine whether or not a human is present within the security area 730. For example, if it determines using the three-dimensional point cloud data that an object that is likely to be a human is present, it may analyze image data corresponding to the position of the object to further determine whether or not the object is a human.

[0152] The processor 161 repeats the process of step S205 until a command to end the operation is issued (step S206).

[0153] When it is determined that a human is present in the alert area 730, at least one of the following operations is controlled: issuing an alarm, stopping the work of the implement 300, and slowing down the work of the implement 300. Fig. 22 is a flowchart showing an example of processing when it is determined that a human is present in the alert area 730.

[0154] When the processing device 161 determines that a human being is located within the alert area 730 (step S301), the control device 180 (FIG. 3) controls at least one of the following actions: issuing a warning sound from the buzzer 220, stopping the work of the implement 300, and slowing down the work of the implement 300 (step S302). The control device 180 can stop or slow down the work of the implement 300 by stopping or slowing down the rotation of the PTO shaft. The control device 180 may communicate with the control device 380 of the implement 300 and stop or slow down the work of the implement 300. For example, the control device 180 may stop or slow down the work of the implement 300 while issuing a warning sound from the buzzer 220. In addition, the control device 180 may stop or slow down the travel of the work vehicle 100 in parallel.

[0155] If the processing device 161 determines that a human has moved or is no longer detected within the alert area 730, the control device 180 resumes normal operation of the implement 300 (step S304) and returns to the processing of step S206 shown in Figure 18.

[0156] As described above, in this embodiment, implement information relating to multiple types of implements provided by multiple users is acquired, and the acquired implement information is stored in the server 600. The processing device 161 acquires implement information corresponding to the identification information of the implement 300 connected to the work vehicle 100 from the server 600, and sets the size of the warning area 730 based on the acquired implement information.

[0157] This means that even when using an implement for which the information necessary to set the size of the alert area 730 has not been made public by the manufacturer, it is possible to set an alert area 730 of a size appropriate for each implement by using the implement information provided by the user.

[0158] Next, a description will be given of setting the warning area 730 taking the offset into consideration. Fig. 23 is a diagram showing an example of a method for calculating the position of at least a part of the outline of the implement 300 in the local coordinate system.

[0159] In the example shown in FIG. 23, an offset type brush cutter, which is an example of an implement 300, is connected to the work vehicle 100.

[0160] The implement 300 shown in Figure 23 includes a mowing unit 311 that cuts grass, and a connecting frame 312 attached to the mowing unit 311. The connecting frame 312 has a shape that extends in the left-right direction, and the right part of the connecting frame 312 is connected to the left part of the mowing unit 311. A connecting part 313 provided on the left part of the connecting frame 312 is connected to the connecting device 108.

[0161] The offset length L4X in the front-to-rear direction is the length in the front-to-rear direction between the front end of the implement 300 and the connecting portion. The offset length L4Y in the left-to-right direction is the length in the left-to-right direction between the center position of the implement 300 in the left-to-right direction and the connecting portion.

[0162] The X coordinate of a position rearward from reference point R1 by the difference between lengths L2X and L4X is defined as the X coordinate of the front end of implement 300. The X coordinate of a position rearward from the X coordinate of the front end by length L1X is defined as the X coordinate of the rear end of implement 300.

[0163] The sum of half the overall width L1Y and the offset length L4Y is the length L3Y between the center line CL1 and the right end of the implement 300. The difference between half the overall width L1Y and the offset length L4Y is the length L2Y between the center line CL1 and the left end of the implement 300. The Y coordinate of a position extending the length L2Y to the left from the center line CL1 is defined as the Y coordinate of the left end of the implement 300. The Y coordinate of a position extending the length L3Y to the right from the center line CL1 is defined as the Y coordinate of the right end of the implement 300.

[0164] As described above, the processing device 161 calculates the X coordinates of the front and rear ends of the implement 300, and also calculates the Y coordinates of the left and right ends of the implement 300. Using these coordinates, the processing device 161 can obtain data on a rectangular outline 740 ( FIG. 24 ) that roughly follows the outline of the implement 300, as well as the coordinates of each part of the outline 740. This rectangular outline 740 passes through the front, rear, left, and right ends of the implement 300.

[0165] Fig. 24 is a diagram showing an example of a security area 730 set around the implement 300. In the example shown in Fig. 24, the processing device 161 sets the range at a predetermined distance Li from the outline 740 as the security area 730.

[0166] The predetermined distance Li may be changed depending on the type of implement 300 connected to the work vehicle 100. The processing device 161 changes the predetermined distance Li depending on the type of implement 300 connected to the work vehicle 100. For example, if the implement 300 is a brush cutter, the predetermined distance Li is set to be greater than if the implement 300 is a tiller. The desirable distance for a person to be away from the implement 300 may differ depending on the type of implement. By changing the predetermined distance Li depending on the type of implement 300, it is possible to set a warning area 730 of a size appropriate for the implement 300 connected to the work vehicle 100.

[0167] The number of security areas 730 to be set is not limited to one, and multiple security areas 730 may be set. Figure 25 is a diagram showing an example of multiple security areas 730. In the example shown in Figure 25, the processing device 161 sets multiple security areas 730a, 730b, and 730c of different sizes. Security area 730a is the largest, security area 730b is the second largest, and security area 730c is the smallest.

[0168] The control device 180 varies the action to be taken when a human is present in the security area for each of the multiple security areas 730a, 730b, and 730c. For example, if the processing device 161 determines that a human is present in the security area 730a but that no human is present in the security areas 730b and 730c, the control device 180 controls the buzzer 220 to emit an alarm. If the processing device 161 determines that a human is present in the security area 730b but that no human is present in the security area 730c, the control device 180 controls the buzzer 220 to emit an alarm and to slow down the work of the implement 300. If the processing device 161 determines that a human is present in the security area 730c, the control device 180 controls the buzzer 220 to emit an alarm and to stop the work of the implement 300.

[0169] By varying the behavior for each of the multiple security areas, it is possible to perform an appropriate behavior according to the distance between the implement 300 and a person.

[0170] In the above-described embodiment, the processing device 161 acquires implement information from the server 600 and sets the alert area 730 using the acquired implement information. However, if the identification information of the implement 300 cannot be acquired or if the implement information corresponding to the identification information is not stored in the server 600, it is difficult to acquire the implement information from the server 600. In this case, the sensing device 700 may be used to sense the implement 300 and detect the position of at least a part of the outline of the implement 300 in the local coordinate system.

[0171] When the processing device 161 is unable to acquire the identification information or is unable to acquire the implement information corresponding to the identification information, the processing device 161 performs control to sense the implement 300 using the sensing device 700. For example, the processing device 161 senses the implement 300 using the LiDAR sensor 140. The three-dimensional point cloud data output by the LiDAR sensor 140 includes, for example, information on the coordinates of each of the multiple points in the local coordinate system.

[0172] The processing device 161 identifies point cloud data representing the implement 300 from the three-dimensional point cloud data output by the LiDAR sensor 140, for example, using an estimation model generated by machine learning. The processing device 161 calculates the coordinates of multiple positions on the outline of the implement 300 using information on the coordinates of each of multiple points included in the point cloud data representing the implement 300. The processing device 161 sets an area that is a predetermined distance Li from the calculated position on the outline of the implement 300 as the alert area 730. This makes it possible to set the alert area 730 even if identification information cannot be acquired or implement information cannot be acquired from the server 600.

[0173] It should be noted that the sensing device that senses the implement 300 may be provided on another machine, rather than on the work vehicle 100. For example, the implement 300 may be sensed using a LiDAR sensor and / or a camera provided on a drone. Also, the implement 300 may be sensed using a camera or the like installed in the storage location of the work vehicle 100 or in the field.

[0174] The sensing system 10 of this embodiment can also be retrofitted to agricultural machinery that does not have these functions. Such a system can be manufactured and sold independently of the agricultural machinery. The computer program used in such a system can also be manufactured and sold independently of the agricultural machinery. The computer program can be provided, for example, by being stored on a computer-readable non-transitory storage medium. The computer program can also be provided by downloading via a telecommunications line (for example, the Internet).

[0175] A part or all of the processing executed by the processing device 161 in the sensing system 10 may be executed by another device. Such another device may be at least one of the processor 660 of the management device 600, the processor 460 of the terminal device 400, and the operation terminal 200. In this case, such another device and the processing device 161 function as the processing device of the sensing system 10, or such another device functions as the processing device of the sensing system 10. For example, when a part of the processing executed by the processing device 161 is executed by the processor 660 of the management device 600, the processing device 161 and the processor 660 function as the processing device of the sensing system 10.

[0176] A part or all of the processing performed by the processing device 161 may be performed by the control device 180. In this case, the control device 180 and the processing device 161 function as the processing devices of the sensing system 10, or the control device 180 functions as the processing device of the sensing system 10.

[0177] As described above, the present disclosure includes agricultural management systems as described below.

[0178] [Item 1] A server 600 that acquires implement information relating to a plurality of types of implements from a plurality of users and stores the acquired implement information; a processing device (161) that sets the size of a warning area (730) around an implement (300) connected to a work vehicle (100); Equipped with The processing device 161 Acquire identification information that identifies the implement 300; acquire implement information corresponding to the identification information from the server 600; The agricultural management system 1 sets the size of the alert area 730 based on the acquired implement information.

[0179] [Item 2] The implement information corresponding to the identification information includes size information indicating the size of the implement 300, The agricultural management system 1 described in item 1, wherein the processing device 161 sets the size of the alert area 730 based on the size information.

[0180] [Item 3] The processing device 161 Calculating the position of at least a part of the outer shape of the implement 300 connected to the work vehicle 100 based on the size information; The agricultural management system 1 described in item 2 sets the size of the warning area 730 based on the calculated position of at least a portion of the outer shape of the implement 300.

[0181] [Item 4] The agricultural management system 1 according to item 3, wherein the processing device 161 sets the range at a predetermined distance Li from the position of at least a part of the calculated outer shape of the implement 300 as the alert area 730.

[0182] [Item 5] Item 5. The agricultural management system 1 according to item 4, wherein the processing device 161 changes the predetermined distance Li depending on the type of implement 300 connected to the work vehicle 100.

[0183] [Item 6] The implement further includes a first sensing device 700 that senses at least a part of the outer shape of the implement 300 and outputs sensor data; An agricultural management system 1 described in any of items 1 to 5, wherein the processing device 161 sets the size of the alert area 730 based on sensor data when it is unable to acquire identification information or when it is unable to acquire implement information corresponding to the identification information.

[0184] [Item 7] The system further includes a second sensing device 700 that senses the set security area 730 and outputs sensor data; The agricultural management system 1 described in any one of items 1 to 6 further includes a control device 180 that determines whether or not a human is present in the set alert area 730 based on the sensor data output by the second sensing device 700, and controls at least one of the following actions if it determines that a human is present: issuing an alarm, stopping the work of the implement 300, and slowing down the work of the implement 300.

[0185] [Item 8] The processing device 161 sets a plurality of surveillance areas 730 of different sizes, An agricultural management system 1 according to any one of items 1 to 7, wherein the action to be taken when a human is present in the alert area 730 differs for each of the multiple alert areas 730.

[0186] [Item 9] The processing device 161 is provided on the work vehicle 100, The processing device 161 requests the server 600 for implement information corresponding to the identification information, The server 600 outputs the implement information requested by the processing device 161, The agricultural management system 1 according to any one of items 1 to 8, wherein the processing device 161 acquires implement information output from the server 600. [Industrial Applicability]

[0187] The technology of the present disclosure is particularly useful in the field of agricultural machinery such as tractors, harvesters, rice transplanters, riding tillers, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, or agricultural robots. [Explanation of symbols]

[0188] 1: Agricultural management system, 10: Sensing system, 50: GNSS satellite, 60: Reference station, 70: Field, 72: Work area, 74: Headland, 76: Road, 80: Network, 100: Work vehicle, 101: Vehicle body, 102: Prime mover (engine), 103: Transmission, 104: Wheel, 105: Cabin, 106: Steering device, 107: Driver's seat, 108: Coupling device, 110: Positioning device, 111: GNSS receiver, 112: RTK receiver, 115: Inertial measurement unit (IMU), 116: Processing circuit, 120: Camera, 130: Obstacle sensor, 140: LiDAR sensor, 150: Sensor group, 152: Steering wheel sensor, 154: Turning angle sensor, 156: Rotation sensor, 160: Control system, 161: Processing device, 170: Storage device, 180: Control device, 181-185: ECU, 190: Communication device, 200: Operation terminal, 210: Operation switch group, 220: Buzzer, 240: Drive device, 300: Work machine, 340: Drive device, 380: Control device, 390: Communication device, 400: Terminal device, 420: Input device, 430: Display device, 450: Storage device, 460: Processor, 470: ROM, 480: RAM, 490: Communication device, 600: Management device (server), 660: Processor, 650: Storage device, 670: ROM, 680: RAM, 690: Communication device, 700: Sensing device, 710: Sensing area, 720: Search area, 730: Caution area

Claims

1. a server that acquires implement information relating to a plurality of types of implements from a plurality of users and stores the acquired implement information; a processing device that sets the size of a warning area around a first implement connected to the work vehicle; Equipped with The processing device includes: acquiring identification information for identifying the first implement; acquire implement information corresponding to the identification information from the server; An agricultural management system that sets the size of the warning area to surround the first implement at an equal distance from the outer shape of the first implement based on the acquired implement information.

2. the implement information corresponding to the identification information includes size information indicating a size of the first implement, The agricultural management system according to claim 1 , wherein the processing device sets the size of the warning area based on the size information.

3. The processing device includes: Calculating a position of at least a part of an outer shape of the first implement connected to the work vehicle based on the size information; The agricultural management system according to claim 2 , wherein the size of the warning area is set based on the calculated position of at least a part of the outer shape of the first implement.

4. The agricultural management system according to claim 3 , wherein the processing device sets the warning area to an area that is a predetermined distance from a position of at least a part of the calculated outer shape of the first implement.

5. The agricultural management system according to claim 4 , wherein the processing device changes the predetermined distance depending on the type of the first implement connected to the work vehicle.

6. Further provided is a first sensing device that senses at least a part of the outer shape of the first implement and outputs sensor data; An agricultural management system as described in any one of claims 1 to 5, wherein the processing device sets the size of the warning area based on the sensor data when the identification information cannot be acquired or when implement information corresponding to the identification information cannot be acquired.

7. Further, a second sensing device is provided that senses the set alert area and outputs sensor data; An agricultural management system as described in any one of claims 1 to 5, further comprising a control device that determines whether or not a human is present in the set warning area based on the sensor data output by the second sensing device, and controls at least one of the following actions when it determines that a human is present: issuing an alarm, stopping work by the first implement, and slowing down work by the first implement.

8. The processing device sets a plurality of concentric surveillance areas having different sizes, The agricultural management system according to claim 1 , wherein an action to be executed when a human is present in a surveillance area differs for each of the plurality of surveillance areas.

9. The processing device is provided in the work vehicle, the processing device requests implement information corresponding to the identification information from the server; the server outputs implement information requested by the processing device; The agricultural management system according to claim 1 , wherein the processing device acquires the implement information output from the server.

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